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AGV path tracking and obstacle avoiding coordination method based on A* extraction guide point

A technology of path tracking and coordination method, which is applied in control/adjustment system, vehicle position/route/height control, two-dimensional position/channel control, etc., which can solve the problem of many global path nodes, lack of buffer zones, and inability to guarantee AGV robots safety issues

Active Publication Date: 2017-05-10
XIAMEN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to solve problems such as the lack of a buffer zone between the path and the obstacle in the existing A* global path planning, the AGV robot cannot be guaranteed to pass safely, the global path nodes are many, the spacing is small, and it is difficult to realize the smooth tracking of the AGV robot. An AGV path tracking and obstacle avoidance coordination method based on A* extraction guide points that can realize the coordination and unification of path tracking and obstacle avoidance

Method used

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  • AGV path tracking and obstacle avoiding coordination method based on A* extraction guide point

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Embodiment

[0051] Embodiment: the method for path planning, tracking and obstacle avoidance of AGV robot in the embodiment of the present invention, the operation process of concrete implementation is as follows:

[0052] 1: Create an initial grid map map based on environmental information.

[0053] 2: On the initial grid map, use the risk assessment function R(n) to evaluate the risk level of the nodes around the obstacle, and obtain a new safety grid map map_r with risky areas.

[0054] 2.1) Convert the original map data into image data, and perform expansion processing with the AGV radius through the cvDiate function in OpenCV.

[0055] 2.2) Use the cvfilter2D function to perform template operations on the expanded map. The initial grid map consists of obstacle grids and blank grids. The obstacle grid node indicates that there is an obstacle, and the gray value is 255; the blank grid node indicates that there is no obstacle at all, and the gray value is 0; so the initial map is proc...

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Abstract

The invention discloses an AGV path tracking and obstacle avoiding coordination method based on an A* extraction guide point, and relates to the field of mobile robot navigation. The method can achieve the coordination of path tracking and obstacle avoiding. The method comprises the steps: planning a safe global path; building an initial grid map according to the environment information; carrying out the evaluation of the risk level of surrounding nodes of an obstacle avoiding object through a risk evaluation function R(n); obtaining a new safety grid map with a risk region; extracting a key path point from the global path obtained through planning. For the path tracking and obstacle avoiding coordination, the method employs a dynamic window based on a laser sensor for obstacle avoiding, takes the key path point as the guide point, carries out the updating of the guide point, and achieves the coordination of the path tracking and obstacle avoiding.

Description

technical field [0001] The invention relates to mobile robot navigation, in particular to an AGV path tracking and obstacle avoidance coordination method for extracting guide points based on A*. Background technique [0002] AGV (Automated Guided Vehicle) is a handling vehicle equipped with an automatic guidance device, capable of driving along a prescribed path, with programming and parking selection devices, safety protection devices, and various material transfer functions on the car body. Its traditional navigation methods mainly include magnetic strip guidance, ribbon guidance, magnetic nail guidance, etc., which are still simple and easy to implement, and the path tracking reliability is good, but they all belong to the fixed path guidance method and have poor flexibility. New navigation methods, such as inertial navigation and laser navigation, do not require fixed route guidance. The positioning system has higher guidance flexibility and can complete material handlin...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/024
Inventor 仲训昱王祥陈映冰彭侠夫
Owner XIAMEN UNIV
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